Attitude heading measurement system and fusion method thereof, and storage medium

Abstract

The invention discloses an attitude heading measurement system and a fusion method thereof, and a storage medium. The fusion method comprises the following steps of acquiring real attitude angles psi,gamma and theta of a car body by weighting of a three-antenna GNSS (Global Navigation Satellite System) and an accelerometer, wherein psi is a heading angle of the car body, gamma is a roll angle ofthe car body and theta is a pitch angle of the car body; acquiring zero offsets deltabx, deltaby, deltabz of a gyroscope; and performing fusion processing on the attitude angles psi, gamma and theta of the car body acquired by weighting of the three-antenna GNSS and the accelerometer and the zero offsets deltabx, deltaby, deltabz of the gyroscope through a Kalman filtering model to obtain an optimal estimation value of the attitude angles of the car body. According to the attitude heading measurement system and the fusion method thereof, and the storage medium, a weighted observation is performed on an output angle of the gyroscope by using the angles output by the accelerometer and a three-antenna GNSS receiver; the angles are fused on the basis of a Kalman filtering theory; the measurement precision is high; and the high requirement of the modern agricultural machinery navigation on the precision of the attitude angle can be satisfied.

Description

technical field [0001] The invention relates to the field of agricultural machinery navigation, in particular to an attitude and heading measurement system based on accelerometer, gyroscope and three-antenna GNSS measurement, a fusion method thereof, and a storage medium. Background technique [0002] Agricultural machinery navigation control is a key technology to promote the process of modern precision agriculture. At present, it has been widely used in the whole process of farming, planting, preservation and harvesting at home and abroad. Its principle is mainly to control the steering of the front wheels of the agricultural machinery to ensure the consistency of the agricultural machinery navigation path and the target route. In the process of agricultural machinery navigation control, the accuracy of the attitude of the agricultural machinery is directly related to the deviation of the path tracking of the agricultural machinery. Therefore, obtaining high-precision att...

AI Technical Summary

Problems solved by technology

[0012] In view of the above technical problems, the present invention provides an attitude and heading measurement system and its fusion method and storage medium based on the three-antenna GNSS and inertial navigation system, which solves the problem that the existing technology can only adapt to the measurement under a single environmental condition and is difficult to meet The problem of attitude accuracy requirements for high-precision navigation of agricultural machinery

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